import type { CollisionObstacle } from "../movement/movementModel.js";
import type { Aabb } from "../world/geometry.js";
import { type NavPoint } from "./navGrid.js";
import type { Waypoint } from "./pathFollow.js";
/** Caller-owned local collision query and terrain policy; no movement or perception state. */
export interface SolidRouteOptions {
    bounds: Aabb;
    cellSize: number;
    /** Query the indexed movement geometry, including mover clearance outside these bounds. */
    obstaclesInBounds: (bounds: Aabb) => Iterable<CollisionObstacle>;
    radius?: number;
    height?: number;
    /** Intermediate waypoint elevation. Defaults to the start's feet height. */
    sampleHeight?: (x: number, z: number) => number;
    /** Terrain/door policy for every edge and smoothing shortcut. */
    canTraverse?: (from: Waypoint, to: Waypoint) => boolean;
    /** Cost multiplier >=1. Suppresses smoothing by default to retain the priced route. */
    stepCost?: (from: NavPoint, to: NavPoint) => number;
    smooth?: boolean;
    /** Grid allocation cap. Default 4096. */
    maxCells?: number;
    /** Gathered obstacle/sub-box cap. Default 256. */
    maxBoxes?: number;
    /** Search expansion cap. Default 1024. */
    maxNodes?: number;
    /** Collision-box tests and terrain-policy calls combined. Default 100000. */
    maxChecks?: number;
}
/** Work counters exclude the caller's spatial-query implementation. */
export interface SolidRouteWork {
    cells: number;
    boxes: number;
    visited: number;
    checks: number;
}
/** Failures never carry a partial or snapped route. */
export type SolidRouteResult = {
    status: "path";
    waypoints: Waypoint[];
    work: SolidRouteWork;
} | {
    status: "no-path" | "budget";
    work: SolidRouteWork;
};
/**
 * Plan an exact-endpoint local route over indexed movement boxes using the shared nav grid.
 * Every edge is swept at body width; bounded failure leaves retry/stop policy with the caller.
 * @capability solid-route bounded local planning over indexed collision geometry
 */
export declare function planSolidRoute(from: Waypoint, to: Waypoint, options: SolidRouteOptions): SolidRouteResult;